pub struct MppiRacingGate2D {
pub center_x: f64,
pub center_y: f64,
pub normal_x: f64,
pub normal_y: f64,
pub half_width: f64,
}Expand description
2-D racing gate for reference-free MPPI progress objectives.
The normal points in the race direction. A gate is crossed when a rollout
segment moves from the negative to the positive side of the gate plane and
intersects the gate within half_width.
Fields§
§center_x: f64§center_y: f64§normal_x: f64§normal_y: f64§half_width: f64Implementations§
Source§impl MppiRacingGate2D
impl MppiRacingGate2D
pub fn new( center_x: f64, center_y: f64, normal_x: f64, normal_y: f64, half_width: f64, ) -> RoboticsResult<Self>
pub fn center(&self) -> (f64, f64)
pub fn signed_distance(&self, x: f64, y: f64) -> f64
pub fn lateral_distance(&self, x: f64, y: f64) -> f64
pub fn squared_distance(&self, x: f64, y: f64) -> f64
pub fn crosses( &self, from: MppiState2D, to: MppiState2D, tolerance: f64, ) -> bool
pub fn state_is_past_gate(&self, state: MppiState2D, tolerance: f64) -> bool
Trait Implementations§
Source§impl Clone for MppiRacingGate2D
impl Clone for MppiRacingGate2D
Source§fn clone(&self) -> MppiRacingGate2D
fn clone(&self) -> MppiRacingGate2D
Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreSource§impl Debug for MppiRacingGate2D
impl Debug for MppiRacingGate2D
Source§impl PartialEq for MppiRacingGate2D
impl PartialEq for MppiRacingGate2D
Source§fn eq(&self, other: &MppiRacingGate2D) -> bool
fn eq(&self, other: &MppiRacingGate2D) -> bool
Tests for
self and other values to be equal, and is used by ==.impl Copy for MppiRacingGate2D
impl StructuralPartialEq for MppiRacingGate2D
Auto Trait Implementations§
impl Freeze for MppiRacingGate2D
impl RefUnwindSafe for MppiRacingGate2D
impl Send for MppiRacingGate2D
impl Sync for MppiRacingGate2D
impl Unpin for MppiRacingGate2D
impl UnsafeUnpin for MppiRacingGate2D
impl UnwindSafe for MppiRacingGate2D
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
fn into_either(self, into_left: bool) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left is true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left(&self) returns true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read more§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.